Android手机蓝牙控制智能小车机器人

下面开始介绍Android手机端控制程序的编写：

首先打开Eclipse，当然之前的Java开发环境和安卓开发工具自己得先配置好，这里就不多说了，网上教程一大摞。

然后新建一个Android项目，修改布局文件main.xml，代码如下：

<?xml version="1.0" encoding="utf-8"?>
<AbsoluteLayout
android:id="@+id/widget0"
android:layout_width="fill_parent"
android:layout_height="fill_parent"
xmlns:android="http://schemas.android.com/apk/res/android"
>
<Button
android:id="@+id/btnF"
android:layout_width="100px"
android:layout_height="60px"
android:text="前进"
android:layout_x="130px"
android:layout_y="62px"
>
</Button>
<Button
android:id="@+id/btnL"
android:layout_width="100px"
android:layout_height="60px"
android:text="左转"
android:layout_x="20px"
android:layout_y="152px"
>
</Button>
<Button
android:id="@+id/btnR"
android:layout_width="100px"
android:layout_height="60px"
android:text="右转"
android:layout_x="240px"
android:layout_y="152px"
>
</Button>
<Button
android:id="@+id/btnB"
android:layout_width="100px"
android:layout_height="60px"
android:text="后退"
android:layout_x="130px"
android:layout_y="242px"
>
</Button>
<Button
android:id="@+id/btnS"
android:layout_width="100px"
android:layout_height="60px"
android:text="停止"
android:layout_x="130px"
android:layout_y="152px"
>
</Button>
</AbsoluteLayout>

这个布局文件的效果就是如视频中所示的手机操作界面。

然后是权限声明，这一步不能少，否则将无法使用安卓手机的蓝牙功能。

权限声明如下：

打开AndroidManifest.xml文件，修改代码如下：

<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
package="com.ThinBTClient.www"
android:versionCode="1"
android:versionName="1.0">

<uses-permission android:name="android.permission.BLUETOOTH_ADMIN" />
<uses-permission android:name="android.permission.BLUETOOTH" />
<application android:icon="@drawable/icon" android:label="@string/app_name">
<activity android:name=".ThinBTClient"
android:label="@string/app_name">
<intent-filter>
<action android:name="android.intent.action.MAIN" />
<category android:name="android.intent.category.LAUNCHER" />
</intent-filter>
</activity>

</application>
</manifest>

其中红色、加粗部分就是要添加的权限声明。

然后编写Activity中的执行代码，这些代码的作用就是发送指令，控制小车的运动。

代码如下：

package com.ThinBTClient.www;

import android.app.Activity;
import android.os.Bundle;
import java.io.IOException;

import java.io.OutputStream;
import java.util.UUID;

import android.app.Activity;

import android.bluetooth.BluetoothAdapter;

import android.bluetooth.BluetoothDevice;

import android.bluetooth.BluetoothSocket;
import android.content.DialogInterface;
import android.content.DialogInterface.OnClickListener;

import android.os.Bundle;
import android.provider.ContactsContract.CommonDataKinds.Event;

import android.util.Log;
import android.view.MotionEvent;
import android.view.View;

import android.widget.Button;
import android.widget.Toast;
public class ThinBTClient extends Activity {
private static final String TAG = "THINBTCLIENT";

private static final boolean D = true;

private BluetoothAdapter mBluetoothAdapter = null;

private BluetoothSocket btSocket = null;

private OutputStream outStream = null;
Button mButtonF;

Button mButtonB;
Button mButtonL;
Button mButtonR;
Button mButtonS;

private static final UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");

private static String address = "00:11:03:21:00:43"; // <==要连接的蓝牙设备MAC地址

/** Called when the activity is first created. */

@Override

public void onCreate(Bundle savedInstanceState) {

super.onCreate(savedInstanceState);
setContentView(R.layout.main);

//前进
mButtonF=(Button)findViewById(R.id.btnF);
mButtonF.setOnTouchListener(new Button.OnTouchListener(){

@Override
public boolean onTouch(View v, MotionEvent event) {
// TODO Auto-generated method stub
String message;
byte[] msgBuffer;
int action = event.getAction();
switch(action)
{
case MotionEvent.ACTION_DOWN:
try {
outStream = btSocket.getOutputStream();

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}

message = "1";

msgBuffer = message.getBytes();

try {
outStream.write(msgBuffer);

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
break;

case MotionEvent.ACTION_UP:
try {
outStream = btSocket.getOutputStream();

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}

message = "0";

msgBuffer = message.getBytes();

try {
outStream.write(msgBuffer);

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
break;
}
return false;
}

});
//后退
mButtonB=(Button)findViewById(R.id.btnB);
mButtonB.setOnTouchListener(new Button.OnTouchListener(){

@Override
public boolean onTouch(View v, MotionEvent event) {
// TODO Auto-generated method stub
String message;
byte[] msgBuffer;
int action = event.getAction();
switch(action)
{
case MotionEvent.ACTION_DOWN:
try {
outStream = btSocket.getOutputStream();

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}

message = "3";

msgBuffer = message.getBytes();

try {
outStream.write(msgBuffer);

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
break;

case MotionEvent.ACTION_UP:
try {
outStream = btSocket.getOutputStream();

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}

message = "0";

msgBuffer = message.getBytes();

try {
outStream.write(msgBuffer);

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
break;
}

return false;
}

});
//左转
mButtonL=(Button)findViewById(R.id.btnL);
mButtonL.setOnTouchListener(new Button.OnTouchListener(){

@Override
public boolean onTouch(View v, MotionEvent event) {
// TODO Auto-generated method stub
String message;
byte[] msgBuffer;
int action = event.getAction();
switch(action)
{
case MotionEvent.ACTION_DOWN:
try {
outStream = btSocket.getOutputStream();

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}

message = "2";

msgBuffer = message.getBytes();

try {
outStream.write(msgBuffer);

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
break;

case MotionEvent.ACTION_UP:
try {
outStream = btSocket.getOutputStream();

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}

message = "0";

msgBuffer = message.getBytes();

try {
outStream.write(msgBuffer);

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
break;
}

return false;

}
});
//右转
mButtonR=(Button)findViewById(R.id.btnR);
mButtonR.setOnTouchListener(new Button.OnTouchListener(){

@Override
public boolean onTouch(View v, MotionEvent event) {
// TODO Auto-generated method stub
String message;
byte[] msgBuffer;
int action = event.getAction();
switch(action)
{
case MotionEvent.ACTION_DOWN:
try {
outStream = btSocket.getOutputStream();

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}

message = "4";

msgBuffer = message.getBytes();

try {
outStream.write(msgBuffer);

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
break;

case MotionEvent.ACTION_UP:
try {
outStream = btSocket.getOutputStream();

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}

message = "0";

msgBuffer = message.getBytes();

try {
outStream.write(msgBuffer);

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
break;
}

return false;

}

});

//停止
mButtonS=(Button)findViewById(R.id.btnS);
mButtonS.setOnTouchListener(new Button.OnTouchListener(){

@Override
public boolean onTouch(View v, MotionEvent event) {
// TODO Auto-generated method stub
if(event.getAction()==MotionEvent.ACTION_DOWN)
try {
outStream = btSocket.getOutputStream();

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}

String message = "0";

byte[] msgBuffer = message.getBytes();

try {
outStream.write(msgBuffer);

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
return false;
}

});

if (D)
Log.e(TAG, "+++ ON CREATE +++");
mBluetoothAdapter = BluetoothAdapter.getDefaultAdapter();

if (mBluetoothAdapter == null) {
Toast.makeText(this, "Bluetooth is not available.", Toast.LENGTH_LONG).show();
finish();
return;
}

if (!mBluetoothAdapter.isEnabled()) {
Toast.makeText(this, "Please enable your Bluetooth and re-run this program.", Toast.LENGTH_LONG).show();
finish();
return;

}

if (D)
Log.e(TAG, "+++ DONE IN ON CREATE, GOT LOCAL BT ADAPTER +++");

}

@Override

public void onStart() {

super.onStart();

if (D) Log.e(TAG, "++ ON START ++");
}

@Override

public void onResume() {

super.onResume();
if (D) {
Log.e(TAG, "+ ON RESUME +");
Log.e(TAG, "+ ABOUT TO ATTEMPT CLIENT CONNECT +");

}

BluetoothDevice device = mBluetoothAdapter.getRemoteDevice(address);

try {

btSocket = device.createRfcommSocketToServiceRecord(MY_UUID);

} catch (IOException e) {

Log.e(TAG, "ON RESUME: Socket creation failed.", e);

}
mBluetoothAdapter.cancelDiscovery();
try {

btSocket.connect();

Log.e(TAG, "ON RESUME: BT connection established, data transfer link open.");

} catch (IOException e) {

try {
btSocket.close();

} catch (IOException e2) {

Log .e(TAG,"ON RESUME: Unable to close socket during connection failure", e2);
}

}

// Create a data stream so we can talk to server.

if (D)
Log.e(TAG, "+ ABOUT TO SAY SOMETHING TO SERVER +");
/* try {
outStream = btSocket.getOutputStream();

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Output stream creation failed.", e);
}

String message = "1";

byte[] msgBuffer = message.getBytes();

try {
outStream.write(msgBuffer);

} catch (IOException e) {
Log.e(TAG, "ON RESUME: Exception during write.", e);
}
*/

}

@Override

public void onPause() {

super.onPause();

if (D)
Log.e(TAG, "- ON PAUSE -");
if (outStream != null) {
try {
outStream.flush();
} catch (IOException e) {
Log.e(TAG, "ON PAUSE: Couldn't flush output stream.", e);
}

}

try {
btSocket.close();
} catch (IOException e2) {
Log.e(TAG, "ON PAUSE: Unable to close socket.", e2);
}

}

@Override

public void onStop() {

super.onStop();

if (D)Log.e(TAG, "-- ON STOP --");

}

@Override

public void onDestroy() {

super.onDestroy();

if (D) Log.e(TAG, "--- ON DESTROY ---");

}

}

可以看到，在这个程序中我直接把小车蓝牙模块的MAC地址给写进去了，其实更合理一点应该让程序运行后搜索周围蓝牙设备，然后选择需要连接的设备，获取它的MAC地址再连接，但是我为了图省事，就直接把我的小车的蓝牙MAC给定死了（反正也没那么多小车让我遥控~~~），这样一打开程序，手机将自动连接智能小车。

好了，手机端的开发到此介绍完毕~希望能为需要者提供一点帮助。

下一步是打算增加红外避障功能、超声波测距功能，机械手臂，如果有机会，以后再安装上火控系统发射钻天猴~，不过估计时间不太允许了······

再次鄙视光显摆却不肯分享技术的装X党！

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